Passive Inverse Dynamics Control Using a Global Energy Tank for Torque-Controlled Humanoid Robots in Multi-Contact

This letter presents a passivity-based inverse dynamics (ID) controller using global energy tank. The proposed control approach allows us to achieve safe multi-contact scenario on torque controlled humanoid robot. is primarily task space ID quadratic programming (QP) which efficiently computes the reference satisfying non-hierarchical set of tasks. Our work extends this by adding tank modulating gains, with power regulation, ensure passivity system. method combines benefits controller, an optimal without joint feedback, and system, robust model uncertainties external disturbances. robustness our framework demonstrated in Gazebo simulations, where robot TALOS achieves 20 cm step walk, objectives Cartesian configuration spaces, control. implementation open-source.